Omkar’s Status Report for 10/22

Since the last status update, I have worked primarily on the design report. I also refactored the controls software on the main computer with a better interpolation between the waypoints (matching the design report). The interpolation is to compute the feedforward term for our controller as well as for the target pose for the robot for the feedback term. Previously I did the interpolation as a cubic spline between the waypoints, enforcing the orientation at each of the waypoints, but this did not account very well for when the robot stayed in place for a period of time. This led to a refactoring of the controls code to compute the trajectory between waypoints in real time rather than precomputing the trajectory when the controller is initialized.